mirror of
https://github.com/CopterExpress/clover.git
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69 lines
2.8 KiB
XML
69 lines
2.8 KiB
XML
<launch>
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<arg name="fcu_conn" default="usb"/>
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<arg name="fcu_ip" default="127.0.0.1"/>
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<arg name="gcs_bridge" default="tcp"/>
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<arg name="viz" default="true"/>
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<arg name="respawn" default="true"/>
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<node pkg="mavros" type="mavros_node" name="mavros" required="false" clear_params="true" respawn="$(arg respawn)" unless="$(eval fcu_conn == 'none')" respawn_delay="1" output="screen">
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<!-- UART connection -->
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<param name="fcu_url" value="/dev/ttyAMA0:921600" if="$(eval fcu_conn is None or fcu_conn == 'uart')"/>
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<!-- USB connection -->
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<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
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<!-- sitl -->
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<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
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<!-- gcs bridge -->
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<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
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<param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>
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<param name="gcs_url" value="udp-b://$(env ROS_HOSTNAME):14550@14550" if="$(eval gcs_bridge == 'udp-b')"/>
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<param name="gcs_url" value="udp-pb://$(env ROS_HOSTNAME):14550@14550" if="$(eval gcs_bridge == 'udp-pb')"/>
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<param name="gcs_url" value="" if="$(eval not gcs_bridge)"/>
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<param name="gcs_quiet_mode" value="true"/>
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<param name="conn/timeout" value="8"/>
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<!-- basic params -->
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<rosparam command="load" file="$(find clever)/launch/mavros_config.yaml"/>
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<rosparam param="plugin_whitelist">
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- altitude
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- command
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- distance_sensor
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- ftp
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- global_position
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- imu
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- local_position
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- manual_control
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# - mocap_pose_estimate
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- param
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- px4flow
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- rc_io
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- setpoint_attitude
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- setpoint_position
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- setpoint_raw
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- setpoint_velocity
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- sys_status
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- sys_time
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- vision_pose_estimate
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# - vision_speed_estimate
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# - waypoint
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</rosparam>
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</node>
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<!-- Rangefinders frame -->
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<node pkg="tf2_ros" type="static_transform_publisher" name="rangefinder_frame" args="0 0 -0.05 0 1.5707963268 0 base_link rangefinder"/>
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<!-- Copter visualization -->
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<node name="visualization" pkg="mavros_extras" type="visualization" if="$(arg viz)">
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<remap to="mavros/local_position/pose" from="local_position"/>
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<remap to="mavros/setpoint_position/local" from="local_setpoint"/>
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<param name="fixed_frame_id" value="map"/>
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<param name="child_frame_id" value="base_link"/>
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<param name="marker_scale" value="1"/>
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<param name="max_track_size" value="20"/>
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<param name="num_rotors" value="4"/>
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</node>
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</launch>
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